CN111481105A - Obstacle avoidance method and device for self-walking robot, robot and storage medium - Google Patents

Obstacle avoidance method and device for self-walking robot, robot and storage medium Download PDF

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Publication number
CN111481105A
CN111481105A CN202010311652.2A CN202010311652A CN111481105A CN 111481105 A CN111481105 A CN 111481105A CN 202010311652 A CN202010311652 A CN 202010311652A CN 111481105 A CN111481105 A CN 111481105A
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CN
China
Prior art keywords
obstacle
specified
robot
information
type
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Pending
Application number
CN202010311652.2A
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Chinese (zh)
Inventor
吴震
谢濠键
彭松
王逸星
胡志颖
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Beijing Stone Innovation Technology Co ltd
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Beijing Rockrobo Technology Co Ltd
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Publication date
Application filed by Beijing Rockrobo Technology Co Ltd filed Critical Beijing Rockrobo Technology Co Ltd
Priority to CN202010311652.2A priority Critical patent/CN111481105A/en
Publication of CN111481105A publication Critical patent/CN111481105A/en
Priority to PCT/CN2021/070912 priority patent/WO2021212926A1/en
Priority to EP21791604.8A priority patent/EP4140381A1/en
Priority to US17/996,699 priority patent/US20230225576A1/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G05D1/2246—
    • G05D1/2247—
    • G05D1/243—
    • G05D1/622—
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
    • G05D2101/20—
    • G05D2105/10—
    • G05D2107/40—
    • G05D2109/10—
    • G05D2111/10—

Abstract

The embodiment of the disclosure provides a self-walking robot obstacle avoidance method, a self-walking robot obstacle avoidance device, a robot and a storage medium, wherein the method comprises the following steps: acquiring and recording information of obstacles encountered in the advancing process; wherein the information of the obstacle includes type information and position information of the obstacle; receiving an operation instruction for a specified obstacle, wherein the operation instruction enables that when the obstacle of the same type as the specified obstacle is detected in the area range marked with the specified obstacle again, the obstacle avoidance operation is not carried out on the obstacle of the same type. The cleaning area missing cleaning caused by blind obstacle avoidance is avoided, the cleaning accuracy is improved, and the user experience is improved.

Description

Obstacle avoidance method and device for self-walking robot, robot and storage medium
Technical Field
The present disclosure relates to the field of robot control technologies, and in particular, to a method and an apparatus for avoiding obstacles for a self-propelled robot, a robot, and a storage medium.
Background
With the development of artificial intelligence technology, various intelligent robots appear, such as floor sweeping robots, floor mopping robots, dust collectors, weeding machines, and the like. The cleaning robots can automatically identify cleaning routes, can also identify and record barrier information in the cleaning process, and bring improvement to route optimization in the subsequent cleaning process, so that labor force is liberated, labor cost is saved, and cleaning efficiency is improved.
Particularly, the sweeping robot provided with the camera has the capability of identifying the type of the obstacle, and different obstacle avoidance strategies can be adopted according to different types of the obstacle. However, due to the fact that the identification capability is uncertain, the identification result often makes mistakes, and obstacles are automatically avoided for places where obstacles are not avoided in the cleaning route, so that part of the area is missed to be cleaned, and user experience is poor.
Disclosure of Invention
In view of this, the embodiments of the present disclosure provide a method and an apparatus for avoiding an obstacle for a self-propelled robot, a robot, and a storage medium, so that the robot can accurately avoid an obstacle.
The embodiment of the disclosure provides a self-walking robot obstacle avoidance method, which is applied to a robot end and comprises the following steps: acquiring and recording information of obstacles encountered in the advancing process; wherein the information of the obstacle includes type information and position information of the obstacle; receiving an operation instruction for a specified obstacle, wherein the operation instruction enables that when the obstacle of the same type as the specified obstacle is detected in the area range marked with the specified obstacle again, the obstacle avoidance operation is not carried out on the obstacle of the same type.
Optionally, the detecting an obstacle of the same type as the specified obstacle again in the area marked with the specified obstacle specifically includes: when the user walks in the area marked with the specified obstacle, matching the type of the detected obstacle with the type of the specified obstacle; and if the matching is successful, confirming that the obstacle of the same type as the specified obstacle is detected.
Optionally, the detecting an obstacle of the same type as the specified obstacle again in the area marked with the specified obstacle specifically includes: matching the type of the detected obstacle with the type of the specified obstacle in the walking process; if the matching is successful, judging whether the position of the obstacle is located in the area range of the specified obstacle; if yes, the obstacle of the same type as the specified obstacle is detected in the area marked with the specified obstacle.
Optionally, the receiving an operation instruction for a specified obstacle specifically includes: and receiving an instruction of ignoring the specified obstacle sent by the user through the man-machine interaction interface.
Optionally, the instructions include: type information and position information of the specified obstacle.
Optionally, the method further includes: after encountering an obstacle in the process of traveling, allocating an identifier for the obstacle; the instructions include: an identification of a designated obstacle; and after receiving an operation instruction for a specified obstacle, searching corresponding type information and position information according to the identifier of the specified obstacle.
Optionally, the area range includes: fixing the size and shape of the area by taking the coordinate position of the specified obstacle as a geometric center; or the partition where the obstacle is located, wherein the partition is an area which is automatically divided by the self-walking robot or is divided by manual setting of a user; alternatively, all areas that the self-walking robot can reach.
The embodiment of the present disclosure provides a robot keeps away barrier device by oneself, is applied to the robot end, includes: the acquisition unit is used for acquiring and recording information of obstacles encountered in the advancing process; wherein the information of the obstacle includes type information and position information of the obstacle; the receiving unit is used for receiving an operation instruction of a specified obstacle, and the operation instruction enables that when the obstacle of the same type as the specified obstacle is detected in the area range marked with the specified obstacle again, the obstacle avoiding operation is not carried out on the obstacle of the same type.
Optionally, the detecting an obstacle of the same type as the specified obstacle again in the area marked with the specified obstacle specifically includes: when the user walks in the area marked with the specified obstacle, matching the type of the detected obstacle with the type of the specified obstacle; and if the matching is successful, confirming that the obstacle of the same type as the specified obstacle is detected.
Optionally, the detecting an obstacle of the same type as the specified obstacle again in the area marked with the specified obstacle specifically includes: matching the type of the detected obstacle with the type of the specified obstacle in the walking process; if the matching is successful, judging whether the position of the obstacle is located in the area range of the specified obstacle; if yes, the obstacle of the same type as the specified obstacle is detected in the area marked with the specified obstacle.
Optionally, the receiving an operation instruction for a specified obstacle specifically includes: and receiving an instruction of ignoring the specified obstacle sent by the user through the man-machine interaction interface.
Optionally, the instructions include: type information and position information of the specified obstacle.
Optionally, the method further includes: after encountering an obstacle in the process of traveling, allocating an identifier for the obstacle; the instructions include: an identification of a designated obstacle; and after receiving an operation instruction for a specified obstacle, searching corresponding type information and position information according to the identifier of the specified obstacle.
Optionally, the area range includes: fixing the size and shape of the area by taking the coordinate position of the specified obstacle as a geometric center; or the partition where the obstacle is located, wherein the partition is an area which is automatically divided by the self-walking robot or is divided by manual setting of a user; alternatively, all areas that the self-walking robot can reach.
The disclosed embodiments provide a robot, comprising a processor and a memory, wherein the memory stores computer program instructions capable of being executed by the processor, and the processor implements the method steps as described in any one of the above when executing the computer program instructions.
The disclosed embodiments provide a non-transitory computer readable storage medium storing computer program instructions which, when invoked and executed by a processor, implement the method steps as recited in any of the above.
Compared with the prior art, the invention at least has the following technical effects:
the robot obstacle avoidance method provided by the embodiment of the disclosure enables the robot to automatically acquire obstacle information in the robot traveling process according to a sensor or an image acquisition device of the robot, marks the type and the position of the obstacle, and after manual confirmation, when encountering the obstacle information of the type again, the obstacle avoidance of the obstacle avoidance is carried out, and the cleaning is carried out, so that the cleaning area missing caused by blind obstacle avoidance is avoided, the cleaning accuracy is improved, and the user experience is improved.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained according to the drawings without creative efforts for those skilled in the art.
Fig. 1 is a schematic view of an application scenario provided by an embodiment of the present disclosure;
fig. 2 is a perspective view of a self-walking robot structure provided by an embodiment of the present disclosure;
FIG. 3 is a top view of a self-propelled robot structure provided by embodiments of the present disclosure;
fig. 4 is a bottom view of a self-walking robot structure provided by an embodiment of the present disclosure;
fig. 5 is a schematic flow chart of an obstacle avoidance method for a self-propelled robot according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of an obstacle avoidance APP of the self-propelled robot provided in the embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an obstacle avoidance apparatus for a self-propelled robot according to an embodiment of the present disclosure;
fig. 8 is an electronic structural schematic diagram of a robot provided in the embodiment of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It should be understood that although the terms first, second, third, etc. may be used to describe … … in embodiments of the present disclosure, these … … should not be limited to these terms. These terms are used only to distinguish … … from each other. For example, the first … … can also be referred to as the second … … and, similarly, the second … … can also be referred to as the first … … without departing from the scope of embodiments of the present disclosure.
The disclosed embodiments provide a possible application scenario that includes an automatic cleaning device 100, such as a sweeping robot, a mopping robot, a vacuum cleaner, a weeding machine, and so on. In certain embodiments. In this embodiment, as shown in fig. 1, a household sweeping robot is taken as an example for explanation, during a working process of the sweeping robot, the cleaning robot may perform cleaning according to a preset route or an automatically planned route, but inevitably may be jammed in some places and cannot perform cleaning, such as a chair 200, a table, and the like, at this time, the sweeping robot may perform obstacle identification through the cloud server 300, or the local server, or the self storage system, and mark the position as an obstacle position, and may implement automatic obstacle avoidance when moving to the position again next time. In this embodiment, the robot may be provided with a touch-sensitive display or controlled by a mobile terminal to receive an operation instruction input by a user. The automatic cleaning equipment can be provided with various sensors, such as sensing devices such as a buffer, a cliff sensor, an ultrasonic sensor, an infrared sensor, a magnetometer, an accelerometer, a gyroscope, a speedometer and the like (the specific structure of each sensor is not described in detail, and any one of the sensors can be applied to the automatic cleaning equipment), and the robot can also be provided with a wireless communication module such as a WIFI module and a Bluetooth module to be connected with an intelligent terminal or a server and receive an operation instruction transmitted by the intelligent terminal or the server through the wireless communication module.
As shown in fig. 2, the robotic cleaning device 100 may travel over the floor surface through various combinations of movement relative to three mutually perpendicular axes defined by the body 110: a front-back axis X, a lateral axis Y, and a central vertical axis Z. The forward driving direction along the forward-rearward axis X is denoted as "forward", and the rearward driving direction along the forward-rearward axis X is denoted as "rearward". The direction of the transverse axis Y is essentially the direction extending between the right and left wheels of the robot along the axis defined by the center points of the drive wheel modules 141.
The robotic cleaning device 100 may be rotated about the Y-axis. The "pitch up" is when the forward portion of the automatic cleaning apparatus 100 is inclined upward and the rearward portion is inclined downward, and the "pitch down" is when the forward portion of the automatic cleaning apparatus 100 is inclined downward and the rearward portion is inclined upward. In addition, the robot 100 may rotate about the Z-axis. In the forward direction of the automatic cleaning apparatus 100, when the automatic cleaning apparatus 100 is tilted to the right side of the X-axis, it turns to the right, and when the automatic cleaning apparatus 100 is tilted to the left side of the X-axis, it turns to the left.
As shown in fig. 3, the automatic cleaning apparatus 100 includes a machine body 110, a sensing system 120, a control system, a driving system 140, a cleaning system, an energy system, and a human-machine interaction system 180.
The machine body 110 includes a forward portion 111 and a rearward portion 112 having an approximately circular shape (circular front to rear), and may have other shapes including, but not limited to, an approximately D-shape with a front to rear circle, and a rectangular or square shape with a front to rear.
As shown in FIG. 3, the sensing system 120 includes a position determining device 121 located on the machine body 110, a crash sensor and a proximity sensor disposed on a bumper 122 of the forward portion 111 of the machine body 110, a cliff sensor disposed on a lower portion of the machine body, and sensing devices such as a magnetometer, an accelerometer, a gyroscope (Gyro), an odometer (ODO), etc., disposed inside the machine body for providing various position information and motion state information of the machine to the control system 130. the position determining device 121 includes, but is not limited to, a camera, a laser ranging device (L DS, L aser DirectStructring).
As shown in fig. 3, the forward portion 111 of the machine body 110 may carry a bumper 122, the bumper 122 may detect one or more events in the travel path of the automatic cleaning apparatus 100 via a sensor system, such as an infrared sensor, provided thereon, when the driving wheel module 141 propels the robot to walk on the ground during cleaning, and the automatic cleaning apparatus 100 may control the driving wheel module 141 to cause the automatic cleaning apparatus 100 to respond to the events, such as moving away from an obstacle, by detecting the events, such as an obstacle, a wall, by the bumper 122.
The control system 130 is disposed on a circuit board in the machine body 110, And includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, a communication computing processor, such as a central processing unit, an application processor, And the application processor utilizes a positioning algorithm, such as an instant positioning And Mapping (S L AM, called simultaneousness L estimation And Mapping), to map an instant map of the environment where the robot is located according to the obstacle information fed back by the laser distance measuring device, And combines distance information And speed information fed back by sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, odometers, And other sensing devices disposed on the buffer 122 to comprehensively determine what working state And location the sweeper is currently located, And what the sweeper is currently located, such as passing a threshold, putting a carpet on, being located at a cliff, being stuck above or below, being full of a dust box, being lifted, And so on the other occasions, And gives a specific action strategy for different owners, so that the robot can work more appropriately meet the user' S requirements And experience better.
As shown in fig. 4, the drive system 140 may steer the robot 100 across the ground based on drive commands having distance and angle information (e.g., x, y, and theta components). The drive system 140 includes a drive wheel module 141, and the drive wheel module 141 can control both the left and right wheels, and in order to more precisely control the motion of the machine, it is preferable that the drive wheel module 141 includes a left drive wheel module and a right drive wheel module, respectively. The left and right drive wheel modules are opposed along a transverse axis defined by the body 110. In order for the robot to be able to move more stably or with greater mobility over the ground, the robot may include one or more driven wheels 142, including but not limited to universal wheels. The driving wheel module comprises a traveling wheel, a driving motor and a control circuit for controlling the driving motor, and can also be connected with a circuit for measuring driving current and a milemeter. The driving wheel module 141 may be detachably coupled to the main body 110 to facilitate disassembly and maintenance. The drive wheel may have a biased drop-type suspension system movably secured, e.g., rotatably attached, to the robot body 110 and receiving a spring bias biased downward and away from the robot body 110. The spring bias allows the drive wheel to maintain contact and traction with the floor surface with a certain landing force while the cleaning elements of the robotic cleaning device 100 also contact the floor surface 10 with a certain pressure.
The cleaning system may be a dry cleaning system and/or a wet cleaning system. As a dry cleaning system, the main cleaning function is derived from the sweeping system 151 constituted by the roll brush, the dust box, the blower, the air outlet, and the connecting members therebetween. The rolling brush with certain interference with the ground sweeps the garbage on the ground and winds the garbage to the front of a dust suction opening between the rolling brush and the dust box, and then the garbage is sucked into the dust box by air which is generated by the fan and passes through the dust box and has suction force. The dry cleaning system may also include an edge brush 152 having an axis of rotation that is angled relative to the floor for moving debris into the roller brush area of the cleaning system.
Energy systems include rechargeable batteries, such as nickel metal hydride batteries and lithium batteries. The charging battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the single chip microcomputer control circuit. The host computer is connected with the charging pile through the charging electrode arranged on the side or the lower part of the machine body for charging. If dust is attached to the exposed charging electrode, the plastic body around the electrode is melted and deformed due to the accumulation effect of electric charge in the charging process, even the electrode itself is deformed, and normal charging cannot be continued.
The human-computer interaction system 180 comprises keys on a host panel, and the keys are used for a user to select functions; the machine control system can further comprise a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the current state or function selection item of the machine to a user; and a mobile phone client program can be further included. For the path navigation type automatic cleaning equipment, a map of the environment where the equipment is located and the position of a machine can be displayed to a user at a mobile phone client, and richer and more humanized function items can be provided for the user.
According to the obstacle avoidance method for the robot, the obstacle information in the travelling route is acquired in real time by the robot according to the sensor or the image acquisition device of the robot in the travelling process, the obstacle information is marked into the operation map, the robot can be ignored when the obstacle avoidance of certain types of obstacles is not needed in subsequent manual judgment, and the obstacle avoidance operation of the type of obstacles is not executed in the cleaning process. The method comprises the following specific steps:
as one embodiment, as shown in fig. 5, an embodiment of the present disclosure provides an obstacle avoidance method for a self-propelled robot, which is applied to a robot end, and includes the following method steps:
step S502: acquiring and recording information of obstacles encountered in the advancing process; wherein the information of the obstacle includes type information and position information of the obstacle.
Obstacle information broadly refers to any object that can impede the travel of the robot. As described above, the automatic cleaning apparatus includes the collision sensor, the proximity sensor, the cliff sensor, and the sensing devices such as the magnetometer, the accelerometer, the Gyro (Gyro), the odometer (odograph), and the like, which are provided inside the machine main body, and these sensors provide the control system 130 with various kinds of position information and motion state information of the machine at a natural frequency. The control system 130 obtains various sensor parameters of the automatic cleaning device in real time during the traveling process, and then determines and analyzes the current position and working state of the automatic cleaning device.
The automatic cleaning equipment shoots images in the advancing process in real time through a camera carried by the automatic cleaning equipment, wherein the image information can be complete photo information, and can also be characteristic information of an object in a reaction image extracted through the photo, such as the image information after characteristic points are extracted. Specifically, the feature information is a picture abstraction feature, such as a corner point, an object boundary line, a color gradient, an optical flow gradient, and the like, and a positional relationship between the features. The control system 130 obtains the image information parameters of the automatic cleaning device in the moving process in real time, and then judges and analyzes the current position and working state of the automatic cleaning device.
The information of the obstacle includes type information and position information of the obstacle. The type information of the obstacle is to automatically identify the obstacle as a corresponding type according to a preset identification classification based on the identification result of the sensor or the image identification device, and the type includes, but is not limited to, a socket, a pedestal, excrement, a weight scale, a string, shoes, and a fixture (such as a sofa, a bed, a table, a chair, etc.). The system can classify the obstacles according to different characteristics of the obstacles acquired by the sensor or the image recognition device, for example, the image captured by the image recognition device can be automatically classified according to the obstacle labels, and the obstacles can be recognized as fixed objects according to the collision strength and the collision position received by the collision sensor.
The position information of the obstacle is marked in the operation map of the robot according to the specific position, such as a coordinate position, of the identified obstacle. The work map is area information formed by the robot according to the work area, and the work map may be obtained by external input after the robot reaches the work area, or may be automatically obtained by the robot in a plurality of work processes. The work map generally includes partitions formed according to architectural features of a work area, such as a bedroom area, a living room area, and a kitchen area of a home; corridor areas, working areas, rest areas and the like in office areas.
As an example, the method may include acquiring obstacle information by an image acquisition device, acquiring image information in real time during a traveling process, confirming that an obstacle exists at a current position when the image information meets a preset model condition, and performing category identification according to a preset model, and specifically includes: the robot acquires image information in the process of traveling in real time in the process of traveling, when an obstacle image exists, the obstacle image is compared with an image model trained by the robot, the recognized obstacle is classified according to the comparison result, for example, when an image of 'shoes' is shot, the image is matched with a plurality of types of models stored by the robot, and when the proportion of the 'shoes' matched is higher, the image is classified into the shoes. Of course, if the image recognition by the obstacle image is not clear, the obstacle can be image-recognized from a plurality of angles, for example, when the probability of recognizing the front group of objects as a wire group is 80%, the probability of recognizing the front group of objects as an excrement is 70%, and the probability of recognizing the front group of objects as a ball is 75%, and the three probabilities are relatively close to each other and difficult to classify, the robot can select to acquire image information again from another angle and perform secondary recognition until the objects can be recognized as a certain class with a large probability difference, for example, the probability of recognizing the objects as a wire group is 80%, and the probabilities of recognizing the objects as other obstacles are all 50% or less, and then the obstacles are classified as a wire group class.
The obstacle image information generally refers to information that can be judged by an image that causes the robot to get stuck, and includes, but is not limited to, image information acquired by an image acquisition device of the cleaning robot, radar information acquired by a radar system, and the like. The automatic cleaning equipment shoots images in the advancing process in real time through a camera carried by the automatic cleaning equipment, wherein the image information can be complete photo information, and can also be characteristic information of a reaction image extracted through a photo, such as the image information after characteristic points are extracted. Specifically, the feature information is a picture abstraction feature, such as a corner point, an object boundary line, a color gradient, an optical flow gradient, and the like, and a positional relationship between the features.
After the coordinate points of the obstacle positions are marked by the obstacle, selecting a region with a certain area and shape around the obstacle positions as the obstacle region; wherein the obstacle location is within the obstacle region. In a specific implementation, the range may be a circular region having a preset length as a radius and a center at a coordinate point marked by an obstacle; the obstacle detection device may be a quadrangle having a predetermined length as a side length with a coordinate point marked by an obstacle as a center. The length of the radius and the length of the side length can be fixed, and can also be set to different values according to different types of obstacles.
During the robot traveling, whether an obstacle exists at the current position can be judged through the image sensor, when the obstacle exists, the position coordinate of the obstacle is marked on a work map, and the type information of the obstacle is recorded in combination with an image device, wherein the type information comprises but is not limited to a socket, a base, excrement, a weighing scale, a string, shoes, and fixtures (such as a sofa, a bed, a table, a chair and the like).
Step S504: receiving an operation instruction for a specified obstacle, wherein the operation instruction enables that when the obstacle of the same type as the specified obstacle is detected in the area range marked with the specified obstacle again, the obstacle avoidance operation is not carried out on the obstacle of the same type.
As an example, the receiving an operation instruction for a specified obstacle specifically includes: and receiving an instruction of ignoring the specified obstacle sent by the user through the man-machine interaction interface. The man-machine interaction interface comprises but is not limited to touch operation of a mobile phone APP interface, a man-machine interaction interface of the robot, a voice interaction interface and the like. Wherein the designated obstacles include one or more of a row, a pedestal, an excrement, a weight scale, a coil, a shoe, and a fixture.
As an example, the instructions include: type information and position information of the specified obstacle. In particular, it may be an instruction to a certain type of obstacle in a certain location, for example an instruction to excrement in the living room. Or instructions for certain types of obstacles at a certain location, e.g. for excrement, or for inserts in the living room. But also instructions for some kind of obstacle in some locations, e.g. for excrement in living rooms, bedrooms.
As an example, after the robot encounters an obstacle during traveling, the obstacle is assigned with a mark, for example, different marks are assigned to different obstacles such as a socket, a base, excrement, a weighing scale, a coil, shoes, a fixture, and the like, and the mark can be displayed on an operation interface of the mobile phone; the instructions include: an identification of a designated obstacle; and after receiving an operation instruction for a specified obstacle, searching corresponding type information and position information according to the identifier of the specified obstacle.
The instruction content may be that, when an obstacle of the same type as the specified obstacle is detected again in the area marked with the specified obstacle, the obstacle avoidance operation is not performed on the obstacle of the same type. The area range can be a certain distance range marked with the specified obstacles, or can be a subarea marked with the specified obstacles, for example, the obstacle marks of which the excrement is detected in a bedroom all point to an ignoring instruction; or, the obstacle avoidance operation may be performed on all regions that can be reached by the robot, that is, the same type of obstacle is not performed in the whole space.
As one embodiment, the detecting an obstacle of the same type as the specified obstacle again in the area marked with the specified obstacle specifically includes: when the user walks in the area marked with the specified obstacle, matching the type of the detected obstacle with the type of the specified obstacle; and if the matching is successful, confirming that the obstacle of the same type as the specified obstacle is detected.
Wherein the area range includes: fixing the size and shape of the area by taking the coordinate position of the specified obstacle as a geometric center; or a partition in which the obstacle is located, wherein the partition is an area that is automatically divided by the self-propelled robot or divided by a user through manual setting.
As an example, the area range includes: a circle with the fixed length as the radius and the coordinate position marked with the barrier information as the center of the circle; or, a partition marked with the coordinate position of the obstacle information, wherein the partition is an area divided according to the job map. In a specific implementation process, the neglected range may be a circle with the coordinate point as a center and a fixed length as a radius, and is preferably 50 cm; for the sweeping robot with the partition capability, the neglected range can be the partition where the coordinate point is located, for example, ignoring the slipper mark in the bedroom; or neglect shoes throughout the cleaning space.
When the walking robot walks in the area range (for example, a circle with a radius of 50 cm) marked with the specified obstacle (for example, shoes), the type of the obstacle detected in real time is matched with the type of the specified obstacle, for example, whether the type of the currently detected obstacle is a shoe or not is judged, if the matching is successful, the obstacle with the same type as the specified obstacle is confirmed to be detected, and an ignoring operation is performed.
As another embodiment, the detecting an obstacle of the same type as the specified obstacle again in the area marked with the specified obstacle specifically includes: matching the type of the detected obstacle with the type of the specified obstacle in the walking process; if the matching is successful, judging whether the position of the obstacle is located in the area range of the specified obstacle; if yes, the obstacle of the same type as the specified obstacle is detected in the area marked with the specified obstacle.
The walking robot acquires obstacle information in a recognition capability range in real time in the walking process, and matches the detected obstacle type with the type (such as shoes) of the specified obstacle; if the matching is successful, the obstacle type is a shoe and belongs to the specified obstacle type, and then whether the position of the obstacle is located in the area range of the specified obstacle is judged; if yes, the obstacle of the same type as the specified obstacle is detected in the area marked with the specified obstacle, and an ignoring operation is carried out.
During or after the cleaning process is completed, the type of the obstacle recognized by the cleaning robot during the cleaning process is displayed in the corresponding position on the cleaning map of the APP, as shown in fig. 6, the type of the obstacle includes, but is not limited to, a socket, a base, excrement, a weight scale, a coil, shoes, and fixtures (e.g., a sofa, a bed, a table, a chair, etc.). At this time, the user may manually operate the above-mentioned obstacles, for example, the user may select to ignore at least one of the obstacles and mark an operation instruction to ignore the obstacle into the job map. After detecting that the user ignores the operation instruction of a certain obstacle at a certain position, the robot records the type and the coordinate of the obstacle. In the subsequent cleaning process, if the sweeper detects the obstacle again in a certain range of the coordinate, the obstacle mark is ignored, namely the obstacle is not considered to be in the position, and the obstacle avoidance operation is not carried out on the obstacle. For example, the user chooses to ignore the operation for a slipper flag at a certain location in the bedroom, and thereafter, when the cleaning robot travels to the vicinity of the flag, the cleaning is continued without the need to avoid an obstacle. Or, when the cleaning robot travels to the bedroom area where the mark is located, the obstacle avoidance of the slipper mark is not needed.
The robot obstacle avoidance method provided by the embodiment of the disclosure enables the robot to automatically acquire obstacle information in the robot traveling process according to a sensor or an image acquisition device of the robot, marks the type and the position of the obstacle, and after manual confirmation, when encountering the obstacle information of the type again, the obstacle avoidance of the obstacle avoidance is carried out, and the cleaning is carried out, so that the cleaning area missing caused by blind obstacle avoidance is avoided, the cleaning accuracy is improved, and the user experience is improved.
As one embodiment, as shown in fig. 7, an embodiment of the present disclosure provides an obstacle avoidance device for a robot, applied to a robot end, including:
an acquisition unit 702, configured to acquire and record information of an obstacle encountered during a traveling process; wherein the information of the obstacle includes type information and position information of the obstacle.
The receiving unit 704 is configured to receive an operation instruction for a specified obstacle, where the operation instruction is such that when an obstacle of the same type as the specified obstacle is detected again within the area marked with the specified obstacle, an obstacle avoidance operation is not performed on the obstacle of the same type.
Optionally, the detecting an obstacle of the same type as the specified obstacle again in the area marked with the specified obstacle specifically includes: when the user walks in the area marked with the specified obstacle, matching the type of the detected obstacle with the type of the specified obstacle; and if the matching is successful, confirming that the obstacle of the same type as the specified obstacle is detected.
Optionally, the detecting an obstacle of the same type as the specified obstacle again in the area marked with the specified obstacle specifically includes: matching the type of the detected obstacle with the type of the specified obstacle in the walking process; if the matching is successful, judging whether the position of the obstacle is located in the area range of the specified obstacle; if yes, the obstacle of the same type as the specified obstacle is detected in the area marked with the specified obstacle.
Optionally, the receiving an operation instruction for a specified obstacle specifically includes: and receiving an instruction of ignoring the specified obstacle sent by the user through the man-machine interaction interface.
Optionally, the instructions include: type information and position information of the specified obstacle.
Optionally, the method further includes: after encountering an obstacle in the process of traveling, allocating an identifier for the obstacle; the instructions include: an identification of a designated obstacle; and after receiving an operation instruction for a specified obstacle, searching corresponding type information and position information according to the identifier of the specified obstacle.
Optionally, the area range includes: fixing the size and shape of the area by taking the coordinate position of the specified obstacle as a geometric center; or the partition where the obstacle is located, wherein the partition is an area which is automatically divided by the self-walking robot or is divided by manual setting of a user; alternatively, all areas that the self-walking robot can reach.
The robot that this disclosed embodiment provided keeps away barrier device for the robot is at the in-process of marcing according to the sensor of self or image acquisition device automatic acquisition robot barrier information of the in-process of marcing, and mark barrier type and position, after artifical the affirmation, when meetting the barrier information of this type once more, should keep away the barrier of keeping away of barrier, the cleaning of should cleaning has avoided blindly keeping away the barrier and the clean region that leads to is leaked and is swept, the accuracy of cleaning has been improved, user experience has been promoted.
The disclosed embodiments provide a non-transitory computer readable storage medium storing computer program instructions which, when invoked and executed by a processor, implement the method steps as recited in any of the above.
The disclosed embodiment provides a robot, comprising a processor and a memory, wherein the memory stores computer program instructions capable of being executed by the processor, and the processor executes the computer program instructions to realize the method steps of any one of the foregoing embodiments.
As shown in fig. 8, the robot may include a processing device (e.g., central processing unit, graphics processor, etc.) 801 that may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)802 or a program loaded from a storage device 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data necessary for the operation of the electronic robot 800 are also stored. The processing apparatus 801, the ROM 802, and the RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.
Generally, input devices 806 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc., output devices 807 including, for example, a liquid crystal display (L CD), speaker, vibrator, etc., storage devices 808 including, for example, a hard disk, etc., and communication devices 809 may allow the electronic robot to communicate wirelessly or wiredly with other robots to exchange data while 12-8 illustrate an electronic robot having various devices, it is understood that not required that all of the illustrated devices be implemented or provided.
In particular, according to an embodiment of the present disclosure, the process described above with reference to the flow diagram may be implemented as a robot software program. For example, embodiments of the present disclosure include a robot software program product comprising a computer program embodied on a readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication means 809, or installed from the storage means 808, or installed from the ROM 802. The computer program, when executed by the processing apparatus 801, performs the above-described functions defined in the methods of the embodiments of the present disclosure.
It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the robot; or may be separate and not assembled into the robot.
Computer program code for carrying out operations of the present disclosure may be written in any combination of one or more programming languages, including AN object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims (10)

1. A self-walking robot obstacle avoidance method is applied to a robot end and is characterized by comprising the following steps:
acquiring and recording information of obstacles encountered in the advancing process; wherein the information of the obstacle includes type information and position information of the obstacle;
receiving an operation instruction for a specified obstacle, wherein the operation instruction enables that when the obstacle of the same type as the specified obstacle is detected in the area range marked with the specified obstacle again, the obstacle avoidance operation is not carried out on the obstacle of the same type.
2. The method of claim 1,
the detecting of the obstacle of the same type as the specified obstacle within the area marked with the specified obstacle again specifically includes:
when the user walks in the area marked with the specified obstacle, matching the type of the detected obstacle with the type of the specified obstacle; and if the matching is successful, confirming that the obstacle of the same type as the specified obstacle is detected.
3. The method of claim 1,
the detecting of the obstacle of the same type as the specified obstacle within the area marked with the specified obstacle again specifically includes:
matching the type of the detected obstacle with the type of the specified obstacle in the walking process; if the matching is successful, judging whether the position of the obstacle is located in the area range of the specified obstacle;
if yes, the obstacle of the same type as the specified obstacle is detected in the area marked with the specified obstacle.
4. The method of claim 1,
the receiving an operation instruction for a specified obstacle specifically includes:
and receiving an instruction of ignoring the specified obstacle sent by the user through the man-machine interaction interface.
5. The method of claim 4, wherein:
the instructions include: type information and position information of the specified obstacle.
6. The method of claim 4, further comprising:
after encountering an obstacle in the process of traveling, allocating an identifier for the obstacle;
the instructions include: an identification of a designated obstacle;
and after receiving an operation instruction for a specified obstacle, searching corresponding type information and position information according to the identifier of the specified obstacle.
7. The method of any of claims 1-6, wherein the range of regions comprises:
fixing the size and shape of the area by taking the coordinate position of the specified obstacle as a geometric center; or the partition where the obstacle is located, wherein the partition is an area which is automatically divided by the self-walking robot or is divided by manual setting of a user; alternatively, all areas that the self-walking robot can reach.
8. The utility model provides a barrier device is kept away to self-propelled robot, is applied to the robot end, and its characterized in that includes:
the acquisition unit is used for acquiring and recording information of obstacles encountered in the advancing process; wherein the information of the obstacle includes type information and position information of the obstacle;
the receiving unit is used for receiving an operation instruction of a specified obstacle, and the operation instruction enables that when the obstacle of the same type as the specified obstacle is detected in the area range marked with the specified obstacle again, the obstacle avoiding operation is not carried out on the obstacle of the same type.
9. A robot comprising a processor and a memory, said memory storing computer program instructions executable by said processor, said processor implementing the method steps of any of claims 1-7 when executing said computer program instructions.
10. A non-transitory computer readable storage medium having stored thereon computer program instructions which, when invoked and executed by a processor, perform the method steps of any of claims 1-7.
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